Search results for: ground bots

Authors: M. Abou Al-alaa, H. A. Elsadek, E. A. Abdallah, E. A. Hashish

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A square patch antenna with both frequency and polarization reconfigurability is presented. The antenna consists of a square patch with coplanar feed on the ground plane. On the patch side, there is a parasitic square ring that is responsible for changing the antenna polarization. On the ground plane, there is a rectangular slot. By changing of length of this slot, the antenna resonance frequency can be changed. The antenna operates at 1.57 and 2.45 GHz that used in GPS and Bluetooth applications, respectively. The length of the slot in the proposed antenna is 40 mm, and the antenna operates at the lower frequency (1.57 GHz). By using switches in the ground plane the slot length can be adjust to 24 mm, so the antenna operates at upper frequency (2.45 GHz). Two switches are mounted on the parasitic ring at optimized positions. By switching between the different states of these two switches, the proposed antenna operates with linear polarization (LP) and circular polarization (CP) at each operating frequency. The antenna gain at 1.57 and 2.45 GHz are 5.9 and 7.64 dBi, respectively. The antenna is analyzed using the CST Microwave Studio. The proposed antenna was fabricated and measured. Results comparison shows good agreement. The antenna has applications in several wireless communication systems.

Keywords: microstrip patch antenna, reconfigurable antenna, frequency reconfigurability, polarization reconfigurability, parasitic square ring, linear polarization, circular polarization

Procedia PDF Downloads 500

Authors: Soran Aminiaghdam, Christian Rode, Reinhard Blickhan, Astrid Zech

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Despite considerable studies on the impact of imposed trunk posture on human walking, less is known about such locomotion while negotiating changes in ground level. The aim of this study was to investigate the behavior of the VBCOM in response to a two-fold expected perturbation, namely alterations in body posture and in ground level. To this end, the kinematic data and ground reaction forces of twelve able participants were collected. We analyzed the vertical position of the body center of mass (VBCOM) from the ground determined by the body segmental analysis method relative to the laboratory coordinate system at touchdown and toe-off instants during walking across uneven ground — characterized by perturbation contact (a 10-cm visible drop) and pre- and post-perturbation contacts — in comparison to unperturbed level contact while maintaining three postures (regular erect, ~30° and ~50° of trunk flexion from the vertical). The VBCOM was normalized to the distance between the greater trochanter marker and the lateral malleoli marker at the instant of TD. Moreover, we calculated the backward rotation during step-down as the difference of the maximum of the trunk angle in the pre-perturbation contact and the minimal trunk angle in the perturbation contact. Two-way repeated measures ANOVAs revealed contact-specific effects of posture on the VBCOM at touchdown (F = 5.96, p = 0.00). As indicated by the analysis of simple main effects, during unperturbed level and pre-perturbation contacts, no between-posture differences for the VBCOM at touchdown were found. In the perturbation contact, trunk-flexed gaits showed a significant increase of VBCOM as compared to the pre-perturbation contact. In the post-perturbation contact, the VBCOM demonstrated a significant decrease in all gait postures relative to the preceding corresponding contacts with no between-posture differences. Main effects of posture revealed that the VBCOM at toe-off significantly decreased in trunk-flexed gaits relative to the regular erect gait. For the main effect of contact, the VBCOM at toe-off demonstrated changes across perturbation and post-perturbation contacts as compared to the unperturbed level contact. Furthermore, participants exhibited a backward trunk rotation during step-down possibly to control the angular momentum of their whole body. A more pronounced backward trunk rotation (2- to 3-fold compared with level contacts) in trunk-flexed walking contributed to the observed elevated VBCOM during the step-down which may have facilitated drop negotiation. These results may shed light on the interaction between posture and locomotion in able gait, and specifically on the behavior of the body center of mass during perturbed locomotion.

Keywords: center of mass, perturbation, posture, uneven ground, walking

Procedia PDF Downloads 151

Authors: G. Venkata Rao, R. Srinivasa Rao, B. Neelima Sri Priya

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The over extraction of groundwater from the coastal aquifers, result in reduction of groundwater resource and lowering of water level. In general, the depletion of groundwater level enhances the landward migration of saltwater wedge. Now a days the ground water extraction increases by year to year because increased population and industrialization. The ground water is the only source of irrigation, domestic and Industrial purposes at Pydibhimavaram industrial area, which is located in the coastal belt of Srikakulam district, India of Latitudes 18.145N 83.627E and Longitudes 18.099N 83.674E. The present study has been attempted to calculate amount of water getting recharged into this aquifer, status of rainfall pattern for the past two decades and the runoff is calculated by using Khosla’s formula with available rainfall and temperature in the study area. A decision support model has been developed on the basis of Monthly Extractions of the water from the ground through bore wells and the Net Recharge of the aquifer. It is concluded that the amount of extractions is exceeding the amount of recharge from May to October in a given year which will in turn damage the water balance in the subsurface layers.

Keywords: aquifer, decision support model, groundwater extraction, run off estimation and rainfall

Procedia PDF Downloads 267

Authors: K. Dhanalakshmi, N. Deepak, E. Manikandan, S. Kanagaraj, M. Sulthan Ariff Rahman, P. Chilambarasan C. Abhimanyu, C. A. Akaash Emmanuel Raj, V. R. Sanal Kumar

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In this paper using a validated double precision, density-based implicit standard k-ε model, the detailed 2D and 3D numerical studies have been carried out to examine the external flow choking at wing-in-ground (WIG) effect craft. The CFD code is calibrated using the exact solution based on the Sanal flow choking condition for adiabatic flows. We observed that at the identical WIG effect conditions the numerically predicted 2D boundary layer blockage is significantly higher than the 3D case and as a result, the airfoil exhibited an early external flow choking than the corresponding wing, which is corroborated with the exact solution. We concluded that, in lieu of the conventional 2D numerical simulation, it is invariably beneficial to go for a realistic 3D simulation of the wing in ground effect, which is analogous and would have the aspects of a real-time parametric flow. We inferred that under the identical flying conditions the chances of external flow choking at WIG effect is higher for conventional aircraft than an aircraft facilitating a divergent channel effect at the bottom surface of the fuselage as proposed herein. We concluded that the fuselage and wings integrated geometry optimization can improve the overall aerodynamic performance of WIG craft. This study is a pointer to the designers and/or pilots for perceiving the zone of danger a priori due to the anticipated external flow choking at WIG effect craft for safe flying at the close proximity of the terrain and the dynamic surface of the marine.

Keywords: boundary layer blockage, chord dominated ground effect, external flow choking, WIG effect

Procedia PDF Downloads 236

Authors: Shashank Mukkoti, Mainak Majumder, Srinivasan Venkatraman

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Owing to the land scarcity in the modern-day, most of the construction activities are carried out closed to the existing buildings. Most of the high-rise buildings are constructed on pile foundations to transfer the design loads to a strong stratum below the ground surface. Due to the proximity of the new and existing structures, noise disturbances are prominent during the pile installation. Installation of vibratory piles is most suitable in urban areas. The ground vibrations developed due to the vibratory pile driving may cause many detrimental effects on the surrounding structures based on the proximity of the sources and nature of the structures. In the present study, an attempt has been made to study the severity of ground vibrations induced by vibratory pile driving. For this purpose, a three-dimensional finite element model has been developed in the ABAQUS/ Explicit finite element program. The couple finite/infinite element method has been employed for the capturing of propagating waves due to the pile installation. The geometry of the pile foundations, frequency of the pile driving, length of the pile has been considered for the parametric study. The results show that vibrations generated due to the vibratory pile installation are either very close or more than the thresholds tolerance limits set by different guidelines.

Keywords: FE model, pile driving, free field vibrations, wave propagation

Procedia PDF Downloads 263

Authors: E. D. Paul, F. G. Okibe, C. E. Gimba, S. Yakubu

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Some physicochemical characteristics and heavy metal concentrations of water samples collected from ten boreholes in Samaru, Zaria, Kaduna state, Nigeria were analysed in order to assess the drinking water quality. Physicochemical parameters were determined using classical methods while the heavy metals were determined using Atomic Absorption Spectrometry. Results of the analysis obtained were as follows: Temperature 29 – 310C, pH 5.74 – 6.19, Electrical conductivity 3.21 – 7.54 µs, DO 0.51 – 1.00 mg/L, BOD 0.0001 – 0.006 mg/L, COD 160 – 260 mg/L, TDS 2.08 – 4.55 mg/L, Total Hardness 97.44 – 401.36 mg/L CaCO3, and Chloride 0.97 – 59.12 mg/L. Concentrations of heavy metals were in the range; Zinc 0.000 – 0.7568 mg/L, Lead 0.000 – 0.070 mg/L and Cadmium 0.000 – 0.009 mg/L. The implications of these findings are discussed.

Keywords: ground water, water quality, heavy metals, Atomic Absorption Spectrometry (AAS)

Procedia PDF Downloads 494

Authors: Girish M. Bhatia

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Most of the important structures in refinery complex are RCC Structures for which in-depth structural monitoring and inspection is required for incessant service. Reinforced concrete structures can be under threat from a combination of insidious challenges due to environmental conditions, including temperature and humidity that lead to accelerated deterioration mechanisms like carbonation, as well as marine exposure, above and below ground structures can experience ingress from aggressive ground waters carrying chlorides and sulphates leading to unexpected deterioration that threaten the integrity of a vital structural asset. By application of health monitoring techniques like corrosion monitoring with help of sensor probes, visual inspection of high rise structures with help of drones, it is possible to establish an early warning at the onset of these destructive processes.

Keywords: concrete structures, corrosion sensors, drones, health monitoring

Procedia PDF Downloads 370

Authors: H. Higashiyama, M. Sappakittipakorn, M. Mizukoshi, O. Takahashi

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Ceramic waste aggregates (CWAs) were made from electric porcelain insulator wastes supplied from an electric power company, which were crushed and ground to fine aggregate sizes. In this study, to develop the CWA mortar as an eco–efficient, ground granulated blast–furnace slag (GGBS) as a supplementary cementitious material (SCM) was incorporated. The water–to–binder ratio (W/B) of the CWA mortars was varied at 0.4, 0.5, and 0.6. The cement of the CWA mortar was replaced by GGBS at 20 and 40% by volume (at about 18 and 37% by weight). Mechanical properties of compressive and splitting tensile strengths, and elastic modulus were evaluated at the age of 7, 28, and 91 days. Moreover, the chloride ingress test was carried out on the CWA mortars in a 5.0% NaCl solution for 48 weeks. The chloride diffusion was assessed by using an electron probe microanalysis (EPMA). To consider the relation of the apparent chloride diffusion coefficient and the pore size, the pore size distribution test was also performed using a mercury intrusion porosimetry at the same time with the EPMA. The compressive strength of the CWA mortars with the GGBS was higher than that without the GGBS at the age of 28 and 91 days. The resistance to the chloride ingress of the CWA mortar was effective in proportion to the GGBS replacement level.

Keywords: ceramic waste aggregate, chloride diffusion, GGBS, pore size distribution

Procedia PDF Downloads 315

Authors: Abbas Mohamed Abbas, Raafat El-Shafie Fat-Helbary, Karrar Omar El Fergawy, Ahmed Hamed Sayed

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The exploration in archaeological area requires non-invasive methods, and hence the Ground Penetrating Radar (GPR) technique is a proper candidate for this task. GPR investigation is widely applied for searching for hidden ancient targets. So, in this paper GPR technique has been used in archaeological investigation. The aim of this study was to obtain information about the subsurface and associated structures beneath two selected sites at the western bank of the River Nile at Aswan city. These sites have archaeological structures of different ages starting from 6thand 12th Dynasties to the Greco-Roman period. The first site is called Nag’ El Gulab, the study area was 30 x 16 m with separating distance 2m between each profile, while the second site is Nag’ El Qoba, the survey method was not in grid but in lines pattern with different lengths. All of these sites were surveyed by GPR model SIR-3000 with antenna 200 MHz. Beside the processing of each profile individually, the time-slice maps have been conducted Nag’ El Gulab site, to view the amplitude changes in a series of horizontal time slices within the ground. The obtained results show anomalies may interpret as presence of associated tombs structures. The probable tombs structures similar in their depth level to the opened tombs in the studied areas.

Keywords: ground penetrating radar, archeology, Nag’ El Gulab, Nag’ El Qoba

Procedia PDF Downloads 364

Authors: Maha Al-Soudani, Gilles Klysz, Jean-Paul Balayssac

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The aim of this paper is to use Ground Penetrating Radar (GPR) as a non-destructive testing (NDT) method to increase its accuracy in recognizing the geometric reinforced concrete structures and in particular, the position of steel bars. This definition will help the managers to assess the state of their structures on the one hand vis-a-vis security constraints and secondly to quantify the need for maintenance and repair. Several configurations of acquisition and processing of the simulated signal were tested to propose and develop an appropriate imaging algorithm in the propagation medium to locate accurately the rebar. A subsequent experimental validation was used by testing the imaging algorithm on real reinforced concrete structures. The results indicate that, this algorithm is capable of estimating the reinforcing steel bar position to within (0-1) mm.

Keywords: GPR, NDT, Reinforced concrete structures, Rebar location.

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Authors: Anis Eloud, Ben Salah Nahla, Sayed Chehaibi

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In order to improve and develop the Tunisian agriculture, the government has encouraged the introduction of modern technologies and has also promoted the adoption of innovative practices cultures. Indeed, the extensive use of mechanization can increase crop productivity but its inadequate application also has a negative impact on the ground caused by the phenomenon of compaction. Which will cause the loss of soil fertility and increased production costs. This problem is accentuated with increase the stress on contact wheel / ground. For this reason, the objective of this study is to simulate the footprint of the ground contact / tire two types of tractor after their passage. The method of this work is based on a simulation including passages from two different tractors on soil with similar characteristics. Simulation parameters were based on the choice of two tractors masses of 6500 kg and 4400 kg of soil and sandy loam in nature. The analysis was performed using specific software. The main results showed that the heaviest tractor caused a constraint wheel / rear floor exceeding 100 kPa. For cons, the second tractor has caused stress wheel / rear floor of 50 kPa. The comparison of the two results showed that 6500 kg tractor made a serious and excessive compaction which generated a negative impact on soil quality and crop yields.

Keywords: compaction, soil, resistance to penetration, crop yields

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Authors: Sajana Suwal, Ganesh R. Nhemafuki

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Evaluation of ground response under earthquake shaking is crucial in geotechnical earthquake engineering. Damage due to seismic excitation is mainly correlated to local geological and geotechnical conditions. It is evident from the past earthquakes (e.g. 1906 San Francisco, USA, 1923 Kanto, Japan) that the local geology has strong influence on amplitude and duration of ground motions. Since then significant studies has been conducted on ground motion amplification revealing the importance of influence of local geology on ground. Observations from the damaging earthquakes (e.g. Nigata and San Francisco, 1964; Irpinia, 1980; Mexico, 1985; Kobe, 1995; L’Aquila, 2009) divulged that non-uniform damage pattern, particularly in soft fluvio-lacustrine deposit is due to the local amplification of seismic ground motion. Non-uniform damage patterns are also observed in Kathmandu Valley during 1934 Bihar Nepal earthquake and recent 2015 Gorkha earthquake seemingly due to the modification of earthquake ground motion parameters. In this study, site effects resulting from amplification of soft soil in Kathmandu are presented. A large amount of subsoil data was collected and used for defining the appropriate subsoil model for the Kathamandu valley. A comparative study of one-dimensional total-stress equivalent linear and non-linear site response is performed using four strong ground motions for six sites of Kathmandu valley. In general, one-dimensional (1D) site-response analysis involves the excitation of a soil profile using the horizontal component and calculating the response at individual soil layers. In the present study, both equivalent linear and non-linear site response analyses were conducted using the computer program DEEPSOIL. The results show that there is no significant deviation between equivalent linear and non-linear site response models until the maximum strain reaches to 0.06-0.1%. Overall, it is clearly observed from the results that non-linear site response model perform better as compared to equivalent linear model. However, the significant deviation between two models is resulted from other influencing factors such as assumptions made in 1D site response, lack of accurate values of shear wave velocity and nonlinear properties of the soil deposit. The results are also presented in terms of amplification factors which are predicted to be around four times more in case of non-linear analysis as compared to equivalent linear analysis. Hence, the nonlinear behavior of soil prevails the urgent need of study of dynamic characteristics of the soft soil deposit that can specifically represent the site-specific design spectra for the Kathmandu valley for building resilient structures from future damaging earthquakes.

Keywords: deep soil, equivalent linear analysis, non-linear analysis, site response

Procedia PDF Downloads 269

Authors: Yasser Aldali

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The scope of this paper is to evaluate and compare the potential of LS-PV (Large Scale Photovoltaic Power Plant) power generation systems in the southern region of Libya at Al-Kufra for both stationary and tracking systems. A Microsoft Excel-VBA program has been developed to compute slope radiation, dew-point, sky temperature, and then cell temperature, maximum power output and module efficiency of the system for stationary system and for tracking system. The results for energy production show that the total energy output is 114GWh/year for stationary system and 148 GWh/year for tracking system. The average module efficiency for the stationary system is 16.6% and 16.2% for the tracking system. The values of electricity generation capacity factor (CF) and solar capacity factor (SCF) for stationary system were found to be 26% and 62.5% respectively and 34% and 82% for tracking system. The GCR (Ground Cover Ratio) for a stationary system is 0.7, which corresponds to a tilt angle of 24°. The GCR for tracking system was found to be 0.12. The estimated ground area needed to build a 50MW PV plant amounts to approx. 0.55 km2 for a stationary PV field constituted by HIT PV arrays and approx. 91 MW/km2. In case of a tracker PV field, the required ground area amounts approx. 2.4k m2 and approx. 20.5 MW/km2.

Keywords: large scale photovoltaic power plant, two-axis tracking system, stationary system, landscape impact

Procedia PDF Downloads 418

Authors: Tejaswi Agarwal, Amritansh Agarwal

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Forest ecosystem plays very important role in the global carbon cycle. It stores about 80% of all above ground and 40% of all below ground terrestrial organic carbon. There is much interest in the extent of tropical forests and their rates of deforestation for two reasons: greenhouse gas contributions and the impact of profoundly negative biodiversity. Deforestation has many ecological, social and economic consequences, one of which is the loss of biological diversity. The rapid deployment of remote sensing (RS) satellites and development of RS analysis techniques in the past three decades have provided a reliable, effective, and practical way to characterize terrestrial ecosystem properties. Global estimates of tropical deforestation vary widely and range from 50,000 to 170,000km2 /yr Recent FAO tropical deforestation estimates for 1990–1995 cite 116,756km2 / yr globally. Remote Sensing can prove to be a very useful tool in monitoring of forests and associated deforestation to a sufficient level of accuracy without the need of physically surveying the forest areas as many of them are physically inaccessible. The methodology for the assessment of forest cover using digital image processing (ERDAS) has been followed. The satellite data for the study was procured from Indian institute of remote Sensing (IIRS), Dehradoon in the digital format. While procuring the satellite data, care was taken to ensure that the data was cloud free and did not belong to dry and leafless season. The Normalized Difference Vegetation Index (NDVI) has been used as a numerical indicator of the reduction in ground biomass. NDVI = (near I.R - Red)/ (near I.R + Red). After calculating the NDVI variations and associated mean, we have analysed the change in ground biomass. Through this paper, we have tried to indicate the rate of deforestation over a given period of time by comparing the forest cover at different time intervals. With the help of remote sensing and GIS techniques, it is clearly shown that the total forest cover is continuously degrading and transforming into various land use/land cover category.

Keywords: remote sensing, deforestation, supervised classification, NDVI, change detection

Procedia PDF Downloads 1138

Authors: Prajwal Prakash Vasisht, Sharath Rajamurthy, Nishanth Dara

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In a supervised machine learning approach, metrics such as precision, accuracy, and coverage can be calculated using ground truth labels to help in model tuning, evaluation, and selection. In an unsupervised setting, however, where the data has no ground truth, there are few interpretable metrics that can guide us to do the same. Our approach creates a framework to adapt the Intersection over Union metric, referred to as Adapted IoU, usually used to evaluate supervised learning models, into the unsupervised domain, which solves the problem by factoring in subject matter expertise and intuition about the ideal output from the model. This metric essentially provides a scale that allows us to compare the performance across numerous unsupervised models or tune hyper-parameters and compare different versions of the same model.

Keywords: general metric, unsupervised learning, classification, intersection over union

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Authors: Ahmet Ozcan, Onder Alparslan, Anil Sezgin, Omer Cetin

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The use of unmanned systems for different purposes has become very popular over the past decade. Expectations from these systems have also shown an incredible increase in this parallel. But meeting the demands of the tasks are often not possible with the usage of a single unmanned vehicle in a mission, so it is necessary to use multiple autonomous vehicles with different abilities together in coordination. Therefore the usage of the same type of vehicles together as a swarm is helped especially to satisfy the time constraints of the missions effectively. In other words, it allows sharing the workload by the various numbers of homogenous platforms together. Besides, it is possible to say there are many kinds of problems that require the usage of the different capabilities of the heterogeneous platforms together cooperatively to achieve successful results. In this case, cooperative working brings additional problems beyond the homogeneous clusters. In the scenario presented as an example problem, it is expected that an autonomous ground vehicle, which is lack of its position information, manage to perform point-to-point navigation without losing its way in a previously unknown labyrinth. Furthermore, the ground vehicle is equipped with very limited sensors such as ultrasonic sensors that can detect obstacles. It is very hard to plan or complete the mission for the ground vehicle by self without lost its way in the unknown labyrinth. Thus, in order to assist the ground vehicle, the autonomous air drone is also used to solve the problem cooperatively. The autonomous drone also has limited sensors like downward looking camera and IMU, and it also lacks computing its global position. In this context, it is aimed to solve the problem effectively without taking additional support or input from the outside, just benefiting capabilities of two autonomous vehicles. To manage the point-to-point navigation in a previously unknown labyrinth, the platforms have to work together coordinated. In this paper, cooperative work of heterogeneous unmanned systems is handled in an applied sample scenario, and it is mentioned that how to work together with an autonomous ground vehicle and the autonomous flying platform together in a harmony to take advantage of different platform-specific capabilities. The difficulties of using heterogeneous multiple autonomous platforms in a mission are put forward, and the successful solutions are defined and implemented against the problems like spatially distributed tasks planning, simultaneous coordinated motion, effective communication, and sensor fusion.

Keywords: unmanned systems, heterogeneous autonomous vehicles, coordination, task planning

Procedia PDF Downloads 102

Authors: Paata Sitchinava

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It has been studied phenomena subjected on the water physical (hydrophysical, mineralogy containing, specific hydrophysical) class of heavy clay soils of the Colchis lowland, according to various categories and forms of the porous water, which will be the base of the distributed used methods of the engineering practice and reclamation effectiveness evaluation. According to of clay grounds data, it has been chosen three research bases section in the central part of lowland, where has implemented investigation works by using a special program. It has been established, that three of cuts are somewhat identical, and by morphological grounds separated layers are the difference by Gallic quality. It has been implemented suitable laboratory experimental research at the samples taken from the cuts, at the base of these created classification mark of physical-technical characteristic, which is the base of suitable calculation of hydrophysical researches.

Keywords: Colchis lowland, drainage, water, soil-ground

Procedia PDF Downloads 158

Authors: Kangkang Tang

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A large amount of blast furnace slag is generated in China. Most ground granulated blast furnace slag (GGBS) however ends up in low-grade applications. Blast furnace slag, ground to an appropriate fineness, can be used as a partial replacement of cementitious material in concrete. The potential for using GGBS in structural concrete, e.g. concrete beams and columns, is investigated at Xi’an Jiaotong-Liverpool University (XJTLU). With 50% of CEM I replaced with GGBS, peak hydration temperatures determined in a suspended concrete slab reduced by 20%. This beneficiary effect has not been further improved with 70% of CEM I replaced with GGBS. Partial replacement of CEM I with GGBS also has a retardation effect on the early-age strength of concrete. More GGBS concrete mixes will be conducted to identify an ‘optimum’ replacement level which will lead to a reduced thermal loading, without significantly compromising the early-age strength of concrete.

Keywords: thermal effect, GGBS, concrete strength and testing, sustainability

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Authors: Auday Al-Mayyahi, Phil Birch, William Wang

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A vision system-based navigation for autonomous ground vehicle (AGV) equipped with a single camera in an indoor environment is presented. A proposed navigation algorithm has been utilized to detect obstacles represented by coloured mini- cones placed in different positions inside a corridor. For the recognition of the relative position and orientation of the AGV to the coloured mini cones, the features of the corridor structure are extracted using a single camera vision system. The relative position, the offset distance and steering angle of the AGV from the coloured mini-cones are derived from the simple corridor geometry to obtain a mapped environment in real world coordinates. The corridor is first captured as an image using the single camera. Hence, image processing functions are then performed to identify the existence of the cones within the environment. Using a bounding box surrounding each cone allows to identify the locations of cones in a pixel coordinate system. Thus, by matching the mapped and pixel coordinates using a projection transformation matrix, the real offset distances between the camera and obstacles are obtained. Real time experiments in an indoor environment are carried out with a wheeled AGV in order to demonstrate the validity and the effectiveness of the proposed algorithm.

Keywords: autonomous ground vehicle, navigation, obstacle avoidance, vision system, single camera, image processing, ultrasonic sensor

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Authors: G. Saxena, M. Kaushik

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In the present investigation, we have employed RMF+BCS (relativistic mean-field plus BCS) approach to carry out a systematic study for the ground state properties of the entire chains of even-even neutron magic nuclei represented by isotones of traditional neutron magic numbers N = 8, 20, 40, 50, 82, and 126. The main body of the results of our calculations includes the binding energy, deformation, two proton separation energies, rms radii of the proton and neutron distributions as well as the proton and neutron density profiles etc. Several of these results have been given in the form of a series of graphs for a ready reference. In addition, the possible locations of the proton and neutron drip-lines as well as the (Z,N) values for the shell closures as suggested by the detailed analyzes of the single particle spectra, and the two proton and two-neutron separation energies for the different isotonic chains are also discussed in detail.

Keywords: relativistic mean field theory, neutron magic nuclei, shell closure, separation energy, deformation

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Authors: Sharmeelee Subramaniam, Muhd Harris Ramli, Fauziah Ahmad

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The application of vacuum pressure to accelerate ground consolidation has been growing significantly in recent years. This ground improvement technique has its advantages, especially in areas where suitable fill is scarce, as it minimizes the surcharge fill height required for the preloading. A study was carried out to examine the response of soft subsoil subjected to vacuum consolidation in combination with embankment loading, surcharge preloading and PVD with two-way drainage. This paper shall describe a procedure to determine the optimum surcharge height and penetration depth of prefabricated vertical drains (PVD) where vacuum consolidation is combined with the use of PVD in soft clay deposits with two-way drainage.

Keywords: prefabricated vertical drain, soft soil, surcharge preload, vacuum consolidation

Procedia PDF Downloads 55

Authors: Guneet Saini, Uthej Vattipalli

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In a world with increased demand for sustainable construction, waste product of one industry could be a boon to the other in reducing the carbon footprint. Usage of industrial waste such as fly ash and ground granulated blast furnace slag have become the epicenter of curbing the use of cement, one of the major contributors of greenhouse gases. In this paper, empirical studies have been done to develop alkali activated self-compacting geopolymer concrete (GPC) using ground granulated blast furnace slag (GGBS), incorporated with 2% nano-silica by weight, through evaluation of its fresh and hardening properties. Experimental investigation on 6 mix designs of varying molarity of 10M, 12M and 16M of the alkaline solution and a binder content of 450 kg/m³ and 500 kg/m³ has been done and juxtaposed with GPC mix design composed of 16M alkaline solution concentration and 500 kg/m³ binder content without nano-silica. The sodium silicate to sodium hydroxide ratio (SS/SH), alkaline activator liquid to binder ratio (AAL/B) and water to binder ratio (W/B), which significantly affect the performance and mechanical properties of GPC, were fixed at 2.5, 0.45 and 0.4 respectively. To catalyze the early stage geopolymerisation, oven curing is done maintaining the temperature at 60˚C. This paper also elucidates the test results for fresh self-compacting concrete (SCC) done as per EFNARC guidelines. The mechanical properties tests conducted were: compressive strength test after 7 days, 28 days, 56 days and 90 days; flexure test; split tensile strength test after 28 days, 56 days and 90 days; X-ray diffraction test to analyze the mechanical performance and sorptivity test for testing of permeability. The study revealed that the sample of 16M concentration of alkaline solution with 500 Kg/m³ binder content containing 2% nano silica produced the highest compressive, flexural and split tensile strength of 81.33 MPa, 7.875 MPa, and 6.398 MPa respectively, at the end of 90 days.

Keywords: alkaline activator liquid, geopolymer concrete, ground granulated blast furnace slag, nano silica, self compacting

Procedia PDF Downloads 120

Authors: Hossein Edrisi

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To study the impact of the amount and volume of power of isolation transformer on the lamps in airfield Ground Lighting Systems. A test was conducted in Persian Gulf International Airport, This airport is situated in the south of Iran and it is one of the most cutting-edge airports, the same one that owns modern devices. Iran uses materials and auxiliary equipment which are made by ADB Company from Belgium. Airfield ground lighting (AGL) systems are responsible for providing visual issue to aircrafts and helicopters in the runways. In an AGL system a great deal of lamps are connected in serial circuits to each other and each ring has its individual constant current regulators (CCR), which through that provide energy to the lamps. Control of lamps is crucial for maintenance and operation in the AGL systems. Thanks to the Programmable Logic Controller (PLC) that is a cutting-edge technology can help the system to connect the elements from substations and ATC (TOWER). For this purpose, a test in real conditions of the airport done for all element that used in the airport such as isolation transformer in different power capacity and different consuming power and brightness of the lamps. The data were analyzed with Lux meter and Multimeter. The results had shown that the increase in the power of transformer caused a significant increase in brightness. According to the Ohm’s law and voltage division, without changing the characteristics of the light bulb, it is not possible to change the voltage, just need to change the amount of transformer with which it connects to the lamps. When the voltage is increased, the current through the bulb has to increase as well, because of Ohm's law: I=V/R and I=V/R which means that if V increases, so do I increase. The output voltage on the constant current regulator emerges between the lamps and the transformers.

Keywords: AGL, CCR, lamps, transformer, Ohm’s law

Procedia PDF Downloads 215

Authors: Z. Chen, C. S. Poon

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In Hong Kong, about 1,000 tonnes of sewage sludge were produced every day in 2014 representing a major fraction of the total solid municipal waste. Traditionally, sewage sludge is disposed of at landfills. This disposal method causes environmental issues and uses up precious space in landfills which are becoming saturated one by one. To tackle the disposal problem, Hong Kong government has just built a sewage sludge incinerator. Through incineration the volume of waste can be reduced up to 90% by converting sewage sludge into ash. Whilst sewage sludge ash (SSA) still needs to be disposed of at landfills, research has been conducted at the Hong Kong Polytechnic University on using SSA to substitute cement for the production of construction materials. Results demonstrated that SSA contained many open and isolated pores and thus can reduce the cement dilution effect resulting in only slight decrease in the flexural and compressive strengths of cement mortar. The incorporation of SSA in cement mortar can be up to 20% of the binder, without too much worry about adverse effect on strength development of mortar. There was some enhancement in strength using ground SSA in comparison to the original SSA. The original SSA shortened the relative initial setting time of cement paste but ground SSA caused slight delay in the setting of cement paste. The research also found that increasing the percentage of SSA lead to decreasing workability of cement mortar with the same water/binder ratio, and ground SSA was beneficial to workability although grinding increased the surface area of SSA. This paper summarizes the major findings of the research.

Keywords: cement replacement, construction material, sewage sludge ash, waste recycling

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Authors: Trung Le Thanh

Abstract:

Soil permeability coefficient is an important parameter that affects the effectiveness of mortar restoration work to reinforce soft soil. Currently, there are many methods to determine the permeability coefficient of ground through laboratory and field experiments. However, the value of the permeability coefficient is determined very differently depending on the geology in general and the sand base in particular. This article presents how to determine the permeability coefficient of sand foundation in Phu My Ward, Tan Uyen City, Binh Duong. The author analyzes and evaluates the advantages and disadvantages of assessment methods based on the data and results obtained, and on that basis recommends a suitable method for determining the permeability coefficient for sand foundations. The research results serve the evaluation of the effectiveness of grouting to reinforce soft ground in general, and grouting of bored piles in particular.

Keywords: permeability coefficient, soft soil, shaft grouting, post grouting, jet grouting

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Authors: Tamilmani Thiruvengadam, Ramasthanan Arulampalam

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This project comprises laying approximately 1.8km of 400mm, 1200mm and 2400mm diameter sewer pipes using pipe jacking machines along Mugliston Park, Buangkok Drive, and Buangkok Link. The works include an estimated 14 circular shafts with depth ranging from 10.0 meters to 29.0 meters. Cast in-situ circular shaft will be used for the temporary shaft excavation. The geology is predominantly Backfill and old alluvium with weak material encountered in between. Where there is a very soft clay, F1 material or weak soil is expected, ground improvement will be carried out outside of the shaft followed by cast in-situ concrete ring wall within the improved soil zone. This paper presents the design methodology, analysis and results of temporary shafts for micro TBM launching and constructing permanent manholes. There is also a comparison of instrumentation readings with the analysis predicted values.

Keywords: circular shaft, ground improvement, old alluvium, temporary shaft

Procedia PDF Downloads 263

Authors: Mehdi Razeghi

Abstract:

Background: The purpose of this case series was to quantify gait to study muscular dystrophy disease. In this research, the quantitative differences between normal and waddling gaits were assessed by force plate analysis. Methods: Nineteen myopathy patients and twenty normal subjects serving as the control group participated in this research. In this study, quantitative analyses of gait have been used to investigate the differences between the mobility of normal subjects and myopathy patients. This study was carried out at the Iranian Muscular Dystrophy Association in Boali Hospital, Tehran, Iran, from October 2015 to July 2020. Patient data were collected from Iranian Muscular Dystrophy Association members. individuals signed an informed consent form approved by the ethics committee of the Azad University. All of the gait tests were performed using a Kistler force platform. Participants walked at a self-selected speed, barefoot, independently, and without assistive devices. Results: Our findings indicate that there were no significant differences between the patients and the control group in the anterior-posterior components of the ground reaction forces; however, there were considerable differences in the force components between the groups in the medial-lateral and vertical directions of the ground reaction force. In addition, there were significant differences in the time parameters between the groups in the vertical and medial-lateral directions.

Keywords: biomechanics, force plate analysis, gait disorder, ground reaction force, kinetic analysis, myopathy disease, rehabilitation engineering

Procedia PDF Downloads 46

Authors: Raj Banerjee, Aniruddha Sengupta

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An earthquake event, associated with a typical fault rupture, initiates at the source, propagates through a rock or soil medium and finally daylights at a surface which might be a populous city. The detrimental effects of an earthquake are often quantified in terms of the responses of superstructures resting on the soil. Hence, there is a need for the estimation of amplification of the bedrock motions due to the influence of local site conditions. In the present study, field borehole log data of Mangalwadi and Walkeswar sites in Mumbai city are considered. The data consists of variation of SPT N-value with the depth of soil. A correlation between shear wave velocity (Vₛ) and SPT N value for various soil profiles of Mumbai city has been developed using various existing correlations which is used further for site response analysis. MATLAB program is developed for studying the ground response analysis by performing two dimensional linear and equivalent linear analysis for some of the typical Mumbai soil sites using pure shear (Multi Point Constraint) boundary condition. The model is validated in linear elastic and equivalent linear domain using the popular commercial program, DEEPSOIL. Three actual earthquake motions are selected based on their frequency contents and durations and scaled to a PGA of 0.16g for the present ground response analyses. The results are presented in terms of peak acceleration time history with depth, peak shear strain time history with depth, Fourier amplitude versus frequency, response spectrum at the surface etc. The peak ground acceleration amplification factors are found to be about 2.374, 3.239 and 2.4245 for Mangalwadi site and 3.42, 3.39, 3.83 for Walkeswar site using 1979 Imperial Valley Earthquake, 1989 Loma Gilroy Earthquake and 1987 Whitter Narrows Earthquake, respectively. In the absence of any site-specific response spectrum for the chosen sites in Mumbai, the generated spectrum at the surface may be utilized for the design of any superstructure at these locations.

Keywords: deepsoil, ground response analysis, multi point constraint, response spectrum

Procedia PDF Downloads 154

Authors: Yasser R. Tawfic, Mohamed A. Eid

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Foundation differential settlement and supported structure tilting is an occasionally occurred engineering problem. This may be caused by overloading, changes in ground soil properties or unsupported nearby excavations. Engineering thinking points directly toward the logic solution for such problem by uplifting the settled side. This can be achieved with deep foundation elements such as micro-piles and macro-piles™, jacked piers and helical piers, jet grouted soil-crete columns, compaction grout columns, cement grouting or with chemical grouting, or traditional pit underpinning with concrete and mortar. Although, some of these techniques offer economic, fast and low noise solutions, many of them are quite the contrary. For tilted structures, with limited inclination, it may be much easier to cause a balancing settlement on the less-settlement side which shall be done carefully in a proper rate. This principal has been applied in Leaning Tower of Pisa stabilization with soil extraction from the ground surface. In this research, the authors attempt to introduce a new solution with a different point of view. So, micro-tunneling technique is presented in here as an intended ground deformation cause. In general, micro-tunneling is expected to induce limited ground deformations. Thus, the researchers propose to apply the technique to form small size ground unsupported holes to produce the target deformations. This shall be done in four phases: •Application of one or more micro-tunnels, regarding the existing differential settlement value, under the raised side of the tilted structure. •For each individual tunnel, the lining shall be pulled out from both sides (from jacking and receiving shafts) in slow rate. •If required, according to calculations and site records, an additional surface load can be applied on the raised foundation side. •Finally, a strengthening soil grouting shall be applied for stabilization after adjustment. A finite element based numerical model is presented to simulate the proposed construction phases for different tunneling positions and tunnels group. For each case, the surface settlements are calculated and induced plasticity points are checked. These results show the impact of the suggested procedure on the tilted structure and its feasibility. Comparing results also show the importance of the position selection and tunnels group gradual effect. Thus, a new engineering solution is presented to one of the structural and geotechnical engineering challenges.

Keywords: differential settlement, micro-tunneling, soil-structure interaction, tilted structures

Procedia PDF Downloads 183

Authors: Muneerah Jeludin, V. Sivakumar

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Numerous laboratory-based research studies on the behavior of ground improved with granular columns with respect to bearing capacity have been well-documented. However, information on its settlement performance is still scarce. Laboratory model study on the settlement behavior of soft clay reinforced with granular columns was conducted and results are presented. The investigation uses a soft kaolin clay sample of 300 mm in diameter and 400 mm in length. The clay samples were reinforced with single and multiple granular columns of various lengths using the displacement and replacement installation method. The results indicated that that no settlement reduction was achieved for a short single floating column. The settlement reduction factors reported for L/d ratios of 5.0, 7.5 and 10.0 are in the range of 1 to 2. The findings obtained in this research showed that the reduction factors are considerably less and that load-sharing mechanism between columns and surrounding clay is complex, particularly for column groups and is affected by other factors such as negative skin friction.

Keywords: ground improvement, model test, reinforced soil, settlement

Procedia PDF Downloads 437